Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Functionality
Reasonably foreseeable misuse by persons, as a primary aspect of safety of the intended functionality (SOTIF), has a significant effect on cooperation performance for lane keeping. This paper presents a novel human–machine cooperative control scheme with consideration of SOTIF issues caused by drive...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-08-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/10/9/210 |
| _version_ | 1797520693576859648 |
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| author | Mingyue Yan Wuwei Chen Qidong Wang Linfeng Zhao Xiutian Liang Bixin Cai |
| author_facet | Mingyue Yan Wuwei Chen Qidong Wang Linfeng Zhao Xiutian Liang Bixin Cai |
| author_sort | Mingyue Yan |
| collection | DOAJ |
| description | Reasonably foreseeable misuse by persons, as a primary aspect of safety of the intended functionality (SOTIF), has a significant effect on cooperation performance for lane keeping. This paper presents a novel human–machine cooperative control scheme with consideration of SOTIF issues caused by driver error. It is challenging to balance lane keeping performance and driving freedom when driver error occurs. A safety evaluation strategy is proposed for safety supervision, containing assessments of driver error and lane departure risk caused by driver error. A dynamic evaluation model of driver error is designed based on a typical driver model in the loop to deal with the uncertainty and variability of driver behavior. Additionally, an extension model is established for determining the cooperation domain. Then, an authority allocation strategy is proposed to generate a dynamic shared authority and achieve an adequate balance between lane keeping performance and driving freedom. Finally, a model predictive control (MPC)-based controller is designed for calculating optimal steering angle, and a steer-by-wheel (SBW) system is employed as an actuator. Numerical simulation tests are conducted on driver error scenarios based on the CarSim and MATLAB/Simulink software platforms. The simulation results demonstrate the effectiveness of the proposed method. |
| first_indexed | 2024-03-10T08:00:15Z |
| format | Article |
| id | doaj.art-9b433800f54a49b0a61057d22f41ab3e |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T08:00:15Z |
| publishDate | 2021-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-9b433800f54a49b0a61057d22f41ab3e2023-11-22T11:32:52ZengMDPI AGActuators2076-08252021-08-0110921010.3390/act10090210Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended FunctionalityMingyue Yan0Wuwei Chen1Qidong Wang2Linfeng Zhao3Xiutian Liang4Bixin Cai5School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009, ChinaReasonably foreseeable misuse by persons, as a primary aspect of safety of the intended functionality (SOTIF), has a significant effect on cooperation performance for lane keeping. This paper presents a novel human–machine cooperative control scheme with consideration of SOTIF issues caused by driver error. It is challenging to balance lane keeping performance and driving freedom when driver error occurs. A safety evaluation strategy is proposed for safety supervision, containing assessments of driver error and lane departure risk caused by driver error. A dynamic evaluation model of driver error is designed based on a typical driver model in the loop to deal with the uncertainty and variability of driver behavior. Additionally, an extension model is established for determining the cooperation domain. Then, an authority allocation strategy is proposed to generate a dynamic shared authority and achieve an adequate balance between lane keeping performance and driving freedom. Finally, a model predictive control (MPC)-based controller is designed for calculating optimal steering angle, and a steer-by-wheel (SBW) system is employed as an actuator. Numerical simulation tests are conducted on driver error scenarios based on the CarSim and MATLAB/Simulink software platforms. The simulation results demonstrate the effectiveness of the proposed method.https://www.mdpi.com/2076-0825/10/9/210human–machine cooperative controldriver manipulation errorsafety of the intended functionalitylane keepingmodel predictive controlintelligent vehicle |
| spellingShingle | Mingyue Yan Wuwei Chen Qidong Wang Linfeng Zhao Xiutian Liang Bixin Cai Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Functionality Actuators human–machine cooperative control driver manipulation error safety of the intended functionality lane keeping model predictive control intelligent vehicle |
| title | Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Functionality |
| title_full | Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Functionality |
| title_fullStr | Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Functionality |
| title_full_unstemmed | Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Functionality |
| title_short | Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Functionality |
| title_sort | human machine cooperative control of intelligent vehicles for lane keeping considering safety of the intended functionality |
| topic | human–machine cooperative control driver manipulation error safety of the intended functionality lane keeping model predictive control intelligent vehicle |
| url | https://www.mdpi.com/2076-0825/10/9/210 |
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